Wheel diameter compensation method and apparatus for robot

Abstract

Wheel diameter compensation method and apparatus for a robot, wherein the method comprises: receiving, by a robot at a first location point in a work place where multiple location points are set, a travel instruction, sent from a server, wherein the travel instruction instructs it to travel to a second location point and includes a distance between the first and the second location points and a travel direction towards the second location point from the first location point; acquiring, by the robot, a travelling deviation corresponding to travelling from the first location point to the second location point, the travelling deviation being a difference between a theoretical distance and an actual distance corresponding to actual number of tire revolutions of the robot; and correcting, by the robot, a current wheel diameter of the robot based on the travelling deviation and the distance between the first and the second location points.

Description

TECHNICAL FIELD[0001]The present invention relates to the technical field of robots, and in particular to a wheel diameter compensation method and apparatus for a robot.Background Art[0002]At present, with the rapid development of social economy and the wide application of smart products, the scale and quantity of large-scale places for people or logistics, such as supermarkets, airports, stations, exhibition centers and logistics warehouses and so on, are increased continuously. The past people-oriented model has failed to meet the actual needs. Therefore, more and more automated robots capable of working autonomously have involved themselves in the fields of baggage transportation in airports, logistics distribution, and so on. An automated robot is a multi-function system integrated with environmental perception, route planning, dynamic decision, behavior control and alarm modules, and can realize timed and mobile autonomous working. Automated robots can replace manpower for oper...

AI Technical Summary

Benefits of technology

The present invention provides a method and apparatus for compensating for the diameter of wheels on a robot in order to improve its accuracy and prevent collisions with other robots. The method involves acquiring a deviation between the actual distance from a robot's current location to a destination and the theoretical distance based on the number of tire revolutions. The current wheel diameter of the robot is then updated based on this deviation. If the robot's tires are worn, the method compensates for the reduced accuracy of the distance travelled by the robot and reminds the user to replace the tires to prevent collisions.

Problems solved by technology

The past people-oriented model has failed to meet the actual needs.

However, as the robots have travelled for a long time, which may result in tire wear of the robots, there will be a large error in the calculated number of tire revolutions.

In carrying out the present invention, the inventors have found that there are at least the following problems in the related art: there is a deviation between the actual wheel diameter and the pre-stored tire wheel diameter due to the presence of tire wear in the use of robots; thus the calculation of the number of tire revolutions, required for a robot to travel from the current location point to another location point by the tire wheel diameter pre-stored therein, has a low accuracy; and therefore, on the one hand, this leads to a low accuracy of the travelling distance of the robot, making it impossible to accurately position the robot, or even causing mutual collisions between robots; and on the other hand, if the tire of the robot is worn to a certain extent, the robot is prone to travelling incorrectly, and thus collides with other robots.

However, there is no good solution in the prior art to avoid the problems that it is impossible to realize accurately positioning of robots and collisions between robots may occur due to tire wear of the robots.

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